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Unlatching topics #674

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Feb 8, 2023
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Made command topic to not atching.
kbrowne15 committed Feb 7, 2023
commit f5d913ee8169c70fc6910b611ba359361fe417bd
3 changes: 1 addition & 2 deletions management/executive/tools/data_to_disk_pub.cc
Original file line number Diff line number Diff line change
@@ -145,8 +145,7 @@ int main(int argc, char** argv) {
std::bind(&on_connect, std::placeholders::_1, cf));

// After the zones are received, commands a set zones to the executive
command_pub = n.advertise<ff_msgs::CommandStamped>(
TOPIC_COMMAND, 5, true);
command_pub = n.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 5, false);

// Subscriber that receives confirmation that the zones were received
ros::Subscriber cf_acK_pub = n.subscribe(TOPIC_MANAGEMENT_EXEC_CF_ACK, 10, &on_cf_ack);
3 changes: 1 addition & 2 deletions management/executive/tools/plan_pub.cc
Original file line number Diff line number Diff line change
@@ -164,8 +164,7 @@ int main(int argc, char** argv) {
std::string sub_topic_plan = TOPIC_COMMUNICATIONS_DDS_PLAN;

std::string sub_topic_command = TOPIC_COMMAND;
command_pub = n.advertise<ff_msgs::CommandStamped>(
sub_topic_command, 5, true);
command_pub = n.advertise<ff_msgs::CommandStamped>(sub_topic_command, 5);

ros::Subscriber cf_ack_sub = n.subscribe(TOPIC_MANAGEMENT_EXEC_CF_ACK, 10,
&on_cf_ack);
2 changes: 1 addition & 1 deletion management/executive/tools/simple_move.cc
Original file line number Diff line number Diff line change
@@ -60,7 +60,7 @@ int main(int argc, char** argv) {

// Make publisher to publish the command
ros::Publisher cmd_publisher;
cmd_publisher = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10, true);
cmd_publisher = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10);

// Make subscriber to receive command acks to see if the command completed
// successfully
2 changes: 1 addition & 1 deletion management/executive/tools/teleop_tool.cc
Original file line number Diff line number Diff line change
@@ -728,7 +728,7 @@ int main(int argc, char** argv) {
tf2_ros::TransformListener tf_listener(tf_buffer);

// Initialize publishers
cmd_pub = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10, true);
cmd_pub = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10);

// Initialize subscribers
ros::Subscriber ack_sub, agent_state_sub, fault_state_sub, dock_sub, move_sub;
3 changes: 1 addition & 2 deletions management/executive/tools/zones_pub.cc
Original file line number Diff line number Diff line change
@@ -144,8 +144,7 @@ int main(int argc, char** argv) {
std::bind(&on_connect, std::placeholders::_1, cf));

// After the zones are received, commands a set zones to the executive
command_pub = n.advertise<ff_msgs::CommandStamped>(
TOPIC_COMMAND, 5, true);
command_pub = n.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 5);

// Subscriber that receives confirmation that the zones were received
ros::Subscriber cf_acK_pub = n.subscribe(TOPIC_MANAGEMENT_EXEC_CF_ACK, 10, &on_cf_ack);
Original file line number Diff line number Diff line change
@@ -46,7 +46,7 @@ InteractiveMarkerTeleop::InteractiveMarkerTeleop(ros::NodeHandle& nh) : nh(nh) {

snapMarkerToAstrobee();
// publish and acknowledge command actions
cmd_publisher_ = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10, true);
cmd_publisher_ = nh.advertise<ff_msgs::CommandStamped>(TOPIC_COMMAND, 10);
// ack_subscriber_ = nh.subscribe(TOPIC_MANAGEMENT_ACK, 10, &AckCallback); // TODO(jdekarske) status goes in the
// marker text
}